EP3822014A1 - Procédé de balayage de la surface de pièces métalliques - Google Patents

Procédé de balayage de la surface de pièces métalliques Download PDF

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Publication number
EP3822014A1
EP3822014A1 EP19209707.9A EP19209707A EP3822014A1 EP 3822014 A1 EP3822014 A1 EP 3822014A1 EP 19209707 A EP19209707 A EP 19209707A EP 3822014 A1 EP3822014 A1 EP 3822014A1
Authority
EP
European Patent Office
Prior art keywords
edge
workpieces
welding
determined
welding wire
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19209707.9A
Other languages
German (de)
English (en)
Inventor
Manuel Mayer
Andreas WALDHÖR
Manuel Binder
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fronius International GmbH
Original Assignee
Fronius International GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fronius International GmbH filed Critical Fronius International GmbH
Priority to EP19209707.9A priority Critical patent/EP3822014A1/fr
Priority to JP2021568778A priority patent/JP7234420B6/ja
Priority to PCT/EP2020/082318 priority patent/WO2021099286A1/fr
Priority to KR1020217037428A priority patent/KR102413031B1/ko
Priority to MX2021011907A priority patent/MX2021011907A/es
Priority to CN202080028231.7A priority patent/CN114641365B/zh
Priority to US17/601,305 priority patent/US11559853B2/en
Priority to EP20804299.4A priority patent/EP3911471B1/fr
Priority to FIEP20804299.4T priority patent/FI3911471T3/fi
Publication of EP3822014A1 publication Critical patent/EP3822014A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1278—Using mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126—Controlling the spatial relationship between the work and the gas torch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode

Definitions

  • the invention relates to a method for scanning the surface of metallic workpieces, with a welding torch with a fusible welding wire being moved with the aid of a manipulator along a predetermined path and at a predetermined speed over the surface of the workpieces prior to carrying out a welding process during a scanning process, and to predetermined times the welding wire is moved at a forward speed to the surface of the workpieces until a welding power source detects contact of the welding wire with one of the workpieces, and the welding wire is then moved away from the workpieces again at a reverse speed, and the position of the surface of the workpieces is determined and stored in the welding power source at any time.
  • the welding wire of a welding device can be used before a welding process to scan the surface of the workpieces to be processed by using the welding wire as a sensor by moving it towards the workpiece at predetermined times until the welding wire touches the workpiece. The welding wire is then moved away from the workpiece again.
  • the movements of the welding wire which are detected by rotary encoders in the drive rollers of the feed device, can be used to infer the position of the welding wire when it comes into contact with the workpiece, and thus the position of the surface of the workpiece.
  • WO 2019/002141 A1 describes the WO 2019/002141 A1 a method and a device for scanning a surface of a metallic workpiece with the aid of the welding wire of the welding torch.
  • a position value is determined and stored or output which can be used by the manipulator to detect an edge or a specific position.
  • the algorithms required for this would have to be implemented by all manufacturers of manipulators in their control, which means a great deal of effort in terms of software.
  • Existing robot controls and interfaces usually take too long for such an evaluation, which is why the welding torch speeds are very low can be chosen during the scanning process for sufficient accuracy.
  • the object of the present invention is to create an above-mentioned scanning method which should be able to be carried out as quickly as possible and which does not require any special computing power for the evaluation in the manipulator. Disadvantages of known scanning methods should be prevented or at least reduced.
  • the object according to the invention is achieved by an above-mentioned method, an edge being determined when the current position of the surface of the workpieces is a predetermined threshold above at least one of the stored previous positions of the surface of the workpieces, and that in the case of determining an edge an edge detection parameter is set and output together with the current position value.
  • the processing of the data for the edge detection takes place in the power source or in the welding device and instead of a large number of position data, only one edge detection parameter is set and output together with the current position value or forwarded to the manipulator.
  • an edge detection parameter that indicates the presence of the edge is set only when the predetermined threshold value is exceeded in a direction which corresponds to the longitudinal direction of the welding wire. If the edge detection parameter is set, the current position value is saved or output. In contrast to the transmission of a series of position values to the manipulator, only the edge detection parameter has to be transmitted to the manipulator together with the current position value in the case of the present method. This makes the process much faster and easier to carry out.
  • the manipulator does not have to evaluate as much data as before, which is why the manipulator can work faster, or the processing power of the manipulator no longer has to be so large, and this can therefore be carried out simply and cheaply.
  • a robot is particularly suitable as a manipulator, but also other devices such as automatic welding devices, linear motion devices or the like.
  • the direct evaluation in a process controller of the welding device or the power source allows the scanning process to be filtered more synchronously and more flexibly, which is why it is also possible To detect the edges of workpieces on uneven, inclined or curved surfaces. Because the manipulator only has to query the edge detection parameter, which in the simplest case comprises only one bit, in the evaluation method in question, the method speed can be increased significantly without loss of accuracy.
  • An edge is then advantageously determined when the current position of the surface of the workpieces is above the mean value of several, preferably 2 to 100, stored previous positions of the surface of the workpieces by the predetermined threshold value.
  • the end of the edge is determined when the current position of the surface of the workpieces remains essentially the same with respect to at least one of the stored previous positions. In this way, the end of the edge is determined during the scanning process when the welding wire essentially registers a flat surface of the workpieces again.
  • the difference between the position of the surface of the workpieces at the end of the determined edge and the last stored position before the edge was determined is determined and output as the value of the edge height.
  • the edge height can be measured very precisely and compared to a target value become.
  • this value of the edge height can also be output with a corresponding accuracy (eg 16-bit value) and, for example, forwarded to the manipulator.
  • the edge inclination can be determined and output from the stored positions of the surface of the workpieces between the end of the determined edge and the stored position after the edge has been determined. If the edge inclination is also determined during the scanning process, this can be taken into account in a subsequent welding process and, if the actual edge inclination deviates from the target value, an adjustment of welding parameters can be made to achieve an optimal welding quality. From a certain preset value of the edge inclination, the edge detection can also be deactivated, since it will then no longer be an edge.
  • the radius of the edge can be determined and output.
  • the edge radius represents a further parameter that can be recorded during the scanning process so that it can be taken into account during a welding process. If the edge radius deviates from a desired value, the welding parameters can be adjusted accordingly during the welding process in order to avoid rejects and to increase the profitability of the welding process.
  • the edge detection parameter and possibly the edge height and possibly the edge inclination and possibly the radius of the edge are transmitted to the manipulator, at least one of these parameters can be taken into account in the manipulator. For example, the speed of the manipulator can be reduced if an edge height deviating from the nominal value is detected. Even with the transmission of all properties of the edge, the data transmission is compared to conventional methods which all position values were transmitted to the manipulator, significantly reduced, whereby the method can be carried out more quickly or less computing power is required in the manipulator. Complex processing of the raw position data in the manipulator is no longer necessary.
  • a distance or a position value in the direction perpendicular to the surface of the workpieces or in the direction of the longitudinal extension of the welding wire in the range between 0.1 mm and 20 mm, can be set as the threshold value for determining an edge.
  • These values are particularly suitable for reliable detection of an edge during the scanning process.
  • the definition of a threshold value below the limit of 0.1 mm does not make sense because the accuracy limits of the devices would lead to misinterpretations and thus incorrect detection of edges.
  • the welding wire can be moved to the surface of the workpieces at time intervals of 5 ms to 50 ms, preferably 10 ms. This represents a reasonable compromise between the accuracy of the detection and the fastest possible execution.
  • the time intervals with which the surface of the workpieces are scanned by the welding wire can be adapted accordingly to the speed with which the welding torch is moved over the surface of the workpieces during the scanning process. So if the welding torch is moved at a slower speed over the surface of the workpieces during the scanning process, longer time intervals can be selected between the scanning points than if the welding torch is moved at a high speed over the workpiece surface.
  • the lower limit for the time intervals between two scanning points is determined by the speed of the feed device with which the welding wire is moved to the workpiece and is moved away from the workpiece again.
  • the time intervals and scanning parameters can, for example, also be adapted to the material of the workpieces, the material and the diameter of the welding wire used, the geometry of the welding torch (pipe bend), etc.
  • the welding torch is preferably oriented at an angle of 60 ° to 90 ° to the surface of the workpieces, so that the welding wire can be moved at such an angle of 60 ° to 90 ° to the surface of the workpieces and away from the surface of the workpieces.
  • These values have proven to be particularly suitable for the scanning method. Angles that are too shallow are unsuitable for the scanning process, as inaccuracies can occur due to lateral deflection of the welding wire or bending of the welding wire.
  • the welding wire can be moved away from the surface of the workpieces at a higher reverse speed during the scanning process if a longer short circuit is detected between the welding wire and the workpieces.
  • a long-lasting short circuit between the welding wire and the workpieces is an indication of the presence of an edge, since the short circuit remains longer despite a backward movement of the welding wire. This measure takes account of changes in the surface of the workpieces and accelerates the scanning process due to the higher reverse speed of the welding wire. In particular, if the welding torch comes to an edge during the scanning process, the welding wire is brought more quickly to the higher position of the workpiece surface caused by the edge.
  • the duration of the short circuit, from which a higher reverse speed is applied, can be determined and determined from appropriate empirical values.
  • the welding wire can be moved at a higher forward speed to the surface of the workpieces after the welding wire is moved away from the surface of the workpieces at a higher reverse speed and no short circuit is detected. This measure also contributes to a more rapid implementation of the scanning process and the end of the detected edge can thus be represented more precisely.
  • the welding torch is moved across the surface of the workpieces in at least three places across an expected edge. This represents In the case of straight edges between two workpieces that occur particularly frequently, this is a sufficiently accurate detection, as this clearly defines the starting point, end point and course of the edge.
  • welding parameters are automatically regulated during the welding process as a function of the edge determined during the scanning process and, if necessary, the determined edge parameters, such as edge height, edge inclination or edge radius.
  • the determined real values of the edge parameters can be taken into account in the subsequent welding process and the welding parameters can be adapted to the determined real values in order to achieve better welding quality or reduce the reject rate.
  • the arc length, the stick-out length, the wire feed speed or the torch speed can be adjusted accordingly or, under certain conditions, a process change can even be carried out.
  • the welding current and / or the welding voltage and / or the feed speed of the welding wire can be regulated as a function of the determined edge and possibly the determined edge parameters such as edge height, edge inclination or edge radius.
  • Fig. 1 shows a schematic diagram of a welding device for carrying out a welding process and scanning process.
  • a welding torch 1 with a welding wire 2 is connected to a corresponding manipulator 3, for example a welding robot.
  • a welding current source 4 supplies the welding torch 1 or the welding wire 2 with the welding current I and the welding voltage U.
  • the welding wire 2 is conveyed from a wire reel 6 to the welding torch 1 at a feed rate v S via a feed device 5.
  • the welding torch 1 with the welding wire 2 is moved with the aid of the manipulator 3 along a predetermined path x A and at a predetermined speed V A over the surface O of the workpieces W.
  • the welding wire 2 is moved at a forward speed v SV to the surface O of the workpieces W until contact of the welding wire 2 with one of the workpieces W is detected by the welding power source 4. This detection takes place by measuring the dip in the voltage in the event of a short circuit between welding wire 2 and workpiece W. Thereafter, welding wire 2 is moved away from workpieces W again at a reverse speed v SR. The position P i of the surface O of the workpieces W is determined and stored in the welding power source 4 at each of the times t i.
  • an edge K on the surface O of the workpieces W is now determined when the current position P i of the surface O of the workpieces W by one predetermined threshold value S is above at least one of the stored previous positions P in the surface O of the workpieces W. If the predetermined threshold value S is exceeded, an edge detection parameter KP is set, in the simplest case just a bit is set to "1" and output together with the current position value P i.
  • the welding torch 1 is preferably oriented at an angle ⁇ of 60 ° to 90 ° to the surface O of the workpieces W.
  • Fig. 2 shows a possible path of the welding torch 1 along the surface O of metallic workpieces W during a scanning process in the view of the workpieces W.
  • a meandering path x A of the welding torch 1 over the workpieces W is suitable for a clear Determination of the position of the edge K.
  • the welding torch 1 is accordingly guided from a starting point A in a meandering manner around the expected position of the edge K to an end point E.
  • the scanning process is carried out along the predetermined path x A at predetermined times t i by moving the welding wire 2 to the workpiece W until a physical contact (short circuit) between welding wire 2 and workpiece W is detected by the power source 4.
  • the transmission of three edge parameters KP including position values P i can thus be sufficient for the unambiguous determination of the straight edge K.
  • the welding torch 1 can be aligned according to the position of the expected edge K, whereby consideration can be given to whether the welding torch 1 is moved from top to bottom over the edge K or vice versa from bottom to top.
  • Fig. 3 is a schematic diagram to explain the method in question for scanning the surface O of metallic workpieces W for the purpose of detecting an edge K is shown.
  • This illustration shows the scanning method according to the invention, in which the positions P i of the surface O workpieces W are detected with the aid of the welding wire 2 at predetermined times t i. If the current position P i of the surface O of the workpieces W is a predetermined threshold value S above at least one of the stored previous positions P in the surface O of the workpieces W, an edge detection parameter KP is set and output together with the current position value P i and that Presence of an edge K is indicated. In the present case, this is the case at position P 15 , where the threshold value S has been exceeded.
  • mean values of several, preferably 2 to 100, stored previous positions P in can be used as a comparison value for the current position P i .
  • an edge K is never detected and the edge detection parameter KP is set in the case of a slowly steadily increasing surface O of the workpieces W.
  • the end of the edge K can also be determined via the positions P i if it is established that the current position P i of the surface O of the workpieces W is essentially the same as compared to at least one of the stored previous positions P in remains.
  • the position P 17 according to Fig. 3 the position is substantially the same as the previous value P 16 , so that the end of the edge K can be defined.
  • Fig. 4 shows a schematic diagram to explain the determination of the height h K of an edge K from the position values P i of the surface O of the workpieces W. From the difference between the positions P i , surface O of the workpieces W at the end of the determined edge K and the last stored position before the determination of the edge K, the edge height h K can be determined. In the present example, the height of the edge h K would be determined as the difference between the positions P 16 and P 13 .
  • Fig. 5 shows a schematic diagram to explain the determination of the edge inclination ⁇ K, the position values P i of the surface O of the workpieces W.
  • the edge inclination ⁇ K can be reliably determined from the position values P i determined and the start and end of the edge K.
  • Fig. 6 a schematic diagram to explain the determination of the edge radius R K from the position values P i of the surface O of the workpieces W is shown. From the determined position values P i from the beginning of the detection of the edge K to the end of the detection of the edge K, conclusions can be drawn about the radius R K of the edge K and a corresponding value can be determined. Deviations of the edge radius R K from the nominal value can be compensated for during a welding process by adapting the welding parameters, in particular the welding current I, the welding voltage U or the feed speed v S of the welding wire 2.
  • the welding parameters such as the arc length, the stick-out length, the wire feed speed or the torch speed, can be adapted to the edge parameters (edge height, edge inclination, edge radius) previously determined during the edge detection process. If a welding process cannot be carried out due to the real edge conditions, for example because the diameter of the welding wire is too small, an error message can be output.
  • FIG. 7 a variant of the scanning method according to the invention with different feed speeds V S of the welding wire 2 as a function of the position values P i of the surface O of the workpieces W.
  • an edge K between two workpieces W is again shown in cross section, and the times t i at which the position P i of the surface O of the workpieces W is determined, starting with position P 1 at time t 1 to position P 8 on time t 8 .
  • the welding wire 2 is moved at the times t i at a predetermined forward speed v SV to the workpiece W until a short circuit is detected and then moved away from the workpiece W at a predetermined reverse speed v SR.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Manipulator (AREA)
  • Arc Welding Control (AREA)
  • Physical Vapour Deposition (AREA)
EP19209707.9A 2019-11-18 2019-11-18 Procédé de balayage de la surface de pièces métalliques Withdrawn EP3822014A1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
EP19209707.9A EP3822014A1 (fr) 2019-11-18 2019-11-18 Procédé de balayage de la surface de pièces métalliques
JP2021568778A JP7234420B6 (ja) 2019-11-18 2020-11-17 金属のワークの表面を走査する方法及び溶接工程を実行する方法
PCT/EP2020/082318 WO2021099286A1 (fr) 2019-11-18 2020-11-17 Procédé de palpage de la surface de pièces métalliques et procédé d'exécution d'un processus de soudage
KR1020217037428A KR102413031B1 (ko) 2019-11-18 2020-11-17 금속 가공물들의 표면을 스캐닝하기 위한 방법 및 용접 프로세스를 실행하기 위한 방법
MX2021011907A MX2021011907A (es) 2019-11-18 2020-11-17 Metodo para escanear la superficie de piezas de trabajo metalicas y metodo para llevar a cabo un proceso de soldadura.
CN202080028231.7A CN114641365B (zh) 2019-11-18 2020-11-17 扫描金属工件表面的方法以及执行焊接过程的方法
US17/601,305 US11559853B2 (en) 2019-11-18 2020-11-17 Method for scanning the surface of metal workpieces and method for carrying out a welding process
EP20804299.4A EP3911471B1 (fr) 2019-11-18 2020-11-17 Procédé de balayage de la surface de pièces métalliques
FIEP20804299.4T FI3911471T3 (fi) 2019-11-18 2020-11-17 Menetelmä metallisten työkappaleiden pinnan pyyhkäisemiseksi ja menetelmä hitsausprosessin suorittamiseksi

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19209707.9A EP3822014A1 (fr) 2019-11-18 2019-11-18 Procédé de balayage de la surface de pièces métalliques

Publications (1)

Publication Number Publication Date
EP3822014A1 true EP3822014A1 (fr) 2021-05-19

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP19209707.9A Withdrawn EP3822014A1 (fr) 2019-11-18 2019-11-18 Procédé de balayage de la surface de pièces métalliques
EP20804299.4A Active EP3911471B1 (fr) 2019-11-18 2020-11-17 Procédé de balayage de la surface de pièces métalliques

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP20804299.4A Active EP3911471B1 (fr) 2019-11-18 2020-11-17 Procédé de balayage de la surface de pièces métalliques

Country Status (8)

Country Link
US (1) US11559853B2 (fr)
EP (2) EP3822014A1 (fr)
JP (1) JP7234420B6 (fr)
KR (1) KR102413031B1 (fr)
CN (1) CN114641365B (fr)
FI (1) FI3911471T3 (fr)
MX (1) MX2021011907A (fr)
WO (1) WO2021099286A1 (fr)

Cited By (1)

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WO2024146846A1 (fr) * 2023-01-02 2024-07-11 Fronius International Gmbh Système de soudage robotisé et procédé de fonctionnement d'un système de soudage robotisé

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CN113780900B (zh) * 2021-11-09 2022-04-12 深圳市裕展精密科技有限公司 基于边缘计算的焊接检测系统及方法
CN115178833B (zh) * 2022-06-24 2024-10-29 上海航天设备制造总厂有限公司 机器人多层多道焊接制造系统及其控制方法、系统
CN118635705B (zh) * 2024-06-07 2025-04-11 中国机械总院集团哈尔滨焊接研究所有限公司 焊丝剩余量检测及预警系统

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JP2013056353A (ja) * 2011-09-08 2013-03-28 Komatsu Ltd 溶接ロボットの制御装置及び制御方法
WO2019002141A1 (fr) 2017-06-26 2019-01-03 Fronius International Gmbh Procédé et dispositif servant à balayer une surface de pièce d'une pièce métallique

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Publication number Priority date Publication date Assignee Title
WO2024146846A1 (fr) * 2023-01-02 2024-07-11 Fronius International Gmbh Système de soudage robotisé et procédé de fonctionnement d'un système de soudage robotisé

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Publication number Publication date
EP3911471B1 (fr) 2023-01-04
JP7234420B2 (ja) 2023-03-07
US11559853B2 (en) 2023-01-24
MX2021011907A (es) 2021-10-26
KR102413031B1 (ko) 2022-06-23
CN114641365A (zh) 2022-06-17
US20220161359A1 (en) 2022-05-26
WO2021099286A1 (fr) 2021-05-27
EP3911471A1 (fr) 2021-11-24
JP2022533197A (ja) 2022-07-21
KR20210149183A (ko) 2021-12-08
JP7234420B6 (ja) 2024-02-08
FI3911471T3 (fi) 2023-04-19
CN114641365B (zh) 2023-05-12

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